Journal
NONLINEAR DYNAMICS
Volume 38, Issue 1-4, Pages 417-433Publisher
SPRINGER
DOI: 10.1007/s11071-004-3770-8
Keywords
cascade control; friction; flexibility; fractional-order control; hexapod robot; PD control; saturation
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This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The walking performance is analysed through the Nyquist stability criterion and several indices that reflect the system dynamical properties. A set of model-based experiments reveals the influence of the different controller implementations upon the proposed metrics.
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